| Directory: | ./ |
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| File: | include/crocoddyl/core/actuation-base.hpp |
| Date: | 2025-01-16 08:47:40 |
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| 1 | /////////////////////////////////////////////////////////////////////////////// | ||
| 2 | // BSD 3-Clause License | ||
| 3 | // | ||
| 4 | // Copyright (C) 2019-2022, LAAS-CNRS, University of Edinburgh, | ||
| 5 | // Heriot-Watt University | ||
| 6 | // Copyright note valid unless otherwise stated in individual files. | ||
| 7 | // All rights reserved. | ||
| 8 | /////////////////////////////////////////////////////////////////////////////// | ||
| 9 | |||
| 10 | #ifndef CROCODDYL_CORE_ACTUATION_BASE_HPP_ | ||
| 11 | #define CROCODDYL_CORE_ACTUATION_BASE_HPP_ | ||
| 12 | |||
| 13 | #include <boost/make_shared.hpp> | ||
| 14 | #include <boost/shared_ptr.hpp> | ||
| 15 | #include <stdexcept> | ||
| 16 | |||
| 17 | #include "crocoddyl/core/fwd.hpp" | ||
| 18 | #include "crocoddyl/core/mathbase.hpp" | ||
| 19 | #include "crocoddyl/core/state-base.hpp" | ||
| 20 | #include "crocoddyl/core/utils/exception.hpp" | ||
| 21 | |||
| 22 | namespace crocoddyl { | ||
| 23 | |||
| 24 | /** | ||
| 25 | * @brief Abstract class for the actuation-mapping model | ||
| 26 | * | ||
| 27 | * The generalized torques \f$\boldsymbol{\tau}\in\mathbb{R}^{nv}\f$ can by any | ||
| 28 | * nonlinear function of the joint-torque inputs | ||
| 29 | * \f$\mathbf{u}\in\mathbb{R}^{nu}\f$, and state point | ||
| 30 | * \f$\mathbf{x}\in\mathbb{R}^{nx}\f$, where `nv`, `nu`, and `ndx` are the | ||
| 31 | * number of joints, dimension of the joint torque input and state manifold, | ||
| 32 | * respectively. Additionally, the generalized torques are also named as the | ||
| 33 | * actuation signals of our system. | ||
| 34 | * | ||
| 35 | * The main computations are carried out in `calc()`, and `calcDiff()`, where | ||
| 36 | * the former computes actuation signal, and the latter computes the Jacobians | ||
| 37 | * of the actuation-mapping function, i.e., | ||
| 38 | * \f$\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{x}}\f$ and | ||
| 39 | * \f$\frac{\partial\boldsymbol{\tau}}{\partial\mathbf{u}}\f$. Note that | ||
| 40 | * `calcDiff()` requires to run `calc()` first. | ||
| 41 | * | ||
| 42 | * \sa `calc()`, `calcDiff()`, `createData()` | ||
| 43 | */ | ||
| 44 | template <typename _Scalar> | ||
| 45 | class ActuationModelAbstractTpl { | ||
| 46 | public: | ||
| 47 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 48 | |||
| 49 | typedef _Scalar Scalar; | ||
| 50 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 51 | typedef StateAbstractTpl<Scalar> StateAbstract; | ||
| 52 | typedef ActuationDataAbstractTpl<Scalar> ActuationDataAbstract; | ||
| 53 | typedef typename MathBase::VectorXs VectorXs; | ||
| 54 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 55 | |||
| 56 | /** | ||
| 57 | * @brief Initialize the actuation model | ||
| 58 | * | ||
| 59 | * @param[in] state State description | ||
| 60 | * @param[in] nu Dimension of joint-torque input | ||
| 61 | */ | ||
| 62 | ActuationModelAbstractTpl(boost::shared_ptr<StateAbstract> state, | ||
| 63 | const std::size_t nu); | ||
| 64 | virtual ~ActuationModelAbstractTpl(); | ||
| 65 | |||
| 66 | /** | ||
| 67 | * @brief Compute the actuation signal from the state point | ||
| 68 | * \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ and joint torque inputs | ||
| 69 | * \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 70 | * | ||
| 71 | * @param[in] data Actuation data | ||
| 72 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 73 | * @param[in] u Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 74 | */ | ||
| 75 | virtual void calc(const boost::shared_ptr<ActuationDataAbstract>& data, | ||
| 76 | const Eigen::Ref<const VectorXs>& x, | ||
| 77 | const Eigen::Ref<const VectorXs>& u) = 0; | ||
| 78 | |||
| 79 | /** | ||
| 80 | * @brief Ignore the computation of the actuation signal | ||
| 81 | * | ||
| 82 | * It does not update the actuation signal as this function is used in the | ||
| 83 | * terminal nodes of an optimal control problem. | ||
| 84 | * | ||
| 85 | * @param[in] data Actuation data | ||
| 86 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 87 | */ | ||
| 88 | void calc(const boost::shared_ptr<ActuationDataAbstract>& data, | ||
| 89 | const Eigen::Ref<const VectorXs>& x); | ||
| 90 | |||
| 91 | /** | ||
| 92 | * @brief Compute the Jacobians of the actuation function | ||
| 93 | * | ||
| 94 | * @param[in] data Actuation data | ||
| 95 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 96 | * @param[in] u Joint-torque input \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 97 | */ | ||
| 98 | virtual void calcDiff(const boost::shared_ptr<ActuationDataAbstract>& data, | ||
| 99 | const Eigen::Ref<const VectorXs>& x, | ||
| 100 | const Eigen::Ref<const VectorXs>& u) = 0; | ||
| 101 | |||
| 102 | /** | ||
| 103 | * @brief Ignore the computation of the Jacobians of the actuation function | ||
| 104 | * | ||
| 105 | * It does not update the Jacobians of the actuation function as this function | ||
| 106 | * is used in the terminal nodes of an optimal control problem. | ||
| 107 | * | ||
| 108 | * @param[in] data Actuation data | ||
| 109 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 110 | */ | ||
| 111 | void calcDiff(const boost::shared_ptr<ActuationDataAbstract>& data, | ||
| 112 | const Eigen::Ref<const VectorXs>& x); | ||
| 113 | |||
| 114 | /** | ||
| 115 | * @brief Compute the joint torque input from the generalized torques | ||
| 116 | * | ||
| 117 | * It stores the results in `ActuationDataAbstractTpl::u`. | ||
| 118 | * | ||
| 119 | * @param[in] data Actuation data | ||
| 120 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 121 | * @param[in] tau Generalized torques \f$\mathbf{u}\in\mathbb{R}^{nv}\f$ | ||
| 122 | */ | ||
| 123 | virtual void commands(const boost::shared_ptr<ActuationDataAbstract>& data, | ||
| 124 | const Eigen::Ref<const VectorXs>& x, | ||
| 125 | const Eigen::Ref<const VectorXs>& tau) = 0; | ||
| 126 | |||
| 127 | /** | ||
| 128 | * @brief Compute the torque transform from generalized torques to joint | ||
| 129 | * torque inputs | ||
| 130 | * | ||
| 131 | * It stores the results in `ActuationDataAbstractTpl::Mtau`. | ||
| 132 | * | ||
| 133 | * @param[in] data Actuation data | ||
| 134 | * @param[in] x State point \f$\mathbf{x}\in\mathbb{R}^{ndx}\f$ | ||
| 135 | * @param[in] tau Joint-torque inputs \f$\mathbf{u}\in\mathbb{R}^{nu}\f$ | ||
| 136 | */ | ||
| 137 | virtual void torqueTransform( | ||
| 138 | const boost::shared_ptr<ActuationDataAbstract>& data, | ||
| 139 | const Eigen::Ref<const VectorXs>& x, const Eigen::Ref<const VectorXs>& u); | ||
| 140 | /** | ||
| 141 | * @brief Create the actuation data | ||
| 142 | * | ||
| 143 | * @return the actuation data | ||
| 144 | */ | ||
| 145 | virtual boost::shared_ptr<ActuationDataAbstract> createData(); | ||
| 146 | |||
| 147 | /** | ||
| 148 | * @brief Return the dimension of the joint-torque input | ||
| 149 | */ | ||
| 150 | std::size_t get_nu() const; | ||
| 151 | |||
| 152 | /** | ||
| 153 | * @brief Return the state | ||
| 154 | */ | ||
| 155 | const boost::shared_ptr<StateAbstract>& get_state() const; | ||
| 156 | |||
| 157 | /** | ||
| 158 | * @brief Print information on the residual model | ||
| 159 | */ | ||
| 160 | template <class Scalar> | ||
| 161 | friend std::ostream& operator<<( | ||
| 162 | std::ostream& os, const ResidualModelAbstractTpl<Scalar>& model); | ||
| 163 | |||
| 164 | /** | ||
| 165 | * @brief Print relevant information of the residual model | ||
| 166 | * | ||
| 167 | * @param[out] os Output stream object | ||
| 168 | */ | ||
| 169 | virtual void print(std::ostream& os) const; | ||
| 170 | |||
| 171 | protected: | ||
| 172 | std::size_t nu_; //!< Dimension of joint torque inputs | ||
| 173 | boost::shared_ptr<StateAbstract> state_; //!< Model of the state | ||
| 174 | }; | ||
| 175 | |||
| 176 | template <typename _Scalar> | ||
| 177 | struct ActuationDataAbstractTpl { | ||
| 178 | EIGEN_MAKE_ALIGNED_OPERATOR_NEW | ||
| 179 | |||
| 180 | typedef _Scalar Scalar; | ||
| 181 | typedef MathBaseTpl<Scalar> MathBase; | ||
| 182 | typedef typename MathBase::VectorXs VectorXs; | ||
| 183 | typedef typename MathBase::MatrixXs MatrixXs; | ||
| 184 | |||
| 185 | template <template <typename Scalar> class Model> | ||
| 186 | 209494 | explicit ActuationDataAbstractTpl(Model<Scalar>* const model) | |
| 187 |
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209494 | : tau(model->get_state()->get_nv()), |
| 188 |
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209494 | u(model->get_nu()), |
| 189 |
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209494 | dtau_dx(model->get_state()->get_nv(), model->get_state()->get_ndx()), |
| 190 |
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209494 | dtau_du(model->get_state()->get_nv(), model->get_nu()), |
| 191 |
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209494 | Mtau(model->get_nu(), model->get_state()->get_nv()), |
| 192 |
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418988 | tau_set(model->get_state()->get_nv(), true) { |
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209494 | tau.setZero(); |
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209494 | u.setZero(); |
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209494 | dtau_dx.setZero(); |
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209494 | dtau_du.setZero(); |
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209494 | Mtau.setZero(); |
| 198 | 209494 | } | |
| 199 | 105697 | virtual ~ActuationDataAbstractTpl() {} | |
| 200 | |||
| 201 | VectorXs tau; //!< Generalized torques | ||
| 202 | VectorXs u; //!< Joint torques | ||
| 203 | MatrixXs dtau_dx; //!< Partial derivatives of the actuation model w.r.t. the | ||
| 204 | //!< state point | ||
| 205 | MatrixXs dtau_du; //!< Partial derivatives of the actuation model w.r.t. the | ||
| 206 | //!< joint torque input | ||
| 207 | MatrixXs Mtau; //!< Torque transform from generalized torques to joint torque | ||
| 208 | //!< inputs | ||
| 209 | std::vector<bool> tau_set; //!< True for joints that are actuacted | ||
| 210 | }; | ||
| 211 | |||
| 212 | } // namespace crocoddyl | ||
| 213 | |||
| 214 | /* --- Details -------------------------------------------------------------- */ | ||
| 215 | /* --- Details -------------------------------------------------------------- */ | ||
| 216 | /* --- Details -------------------------------------------------------------- */ | ||
| 217 | #include "crocoddyl/core/actuation-base.hxx" | ||
| 218 | |||
| 219 | #endif // CROCODDYL_CORE_ACTUATION_BASE_HPP_ | ||
| 220 |